void usartWriteBuffer(uint8_t* buffer,uint16_t lenght)
{
for(uint16_t i=0;i<lenght;i++)
{
usartWriteByte(buffer[i]);
}
}
// ============================================================================
int main( void )
{
int ch = 0;
uint32_t ccount = 0;
uint32_t lastTick;
int pwm;
SystemCoreClockUpdate();
SysTick_Config( SystemCoreClock / HB_HZ);
// Enable peripheral clocks
// TODO: Remove GPIOCEN when moving to the smaller CPU
RCC->AHBENR |= (RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOCEN);
#ifdef USE_USART
InitUSART(400);
#endif // USE_USART
InitLED();
InitServo();
configButtons();
while( 1 ) {
if ( curTick > (HB_HZ) ) {
curTick -= (HB_HZ);
// Once per second processing...
}
if ( curTick != lastTick ) {
lastTick = curTick;
// On each timer tick move the turnout slightly closer to the new position
for ( int idx=0; idx<SERVO_COUNT; ++idx ) {
if ( servo[idx].currentPos < servo[idx].targetPos ) {
servo[idx].currentPos += SERVO_DELTA;
if ( servo[idx].currentPos > servo[idx].targetPos ) {
servo[idx].currentPos = servo[idx].targetPos;
}
}
else
if ( servo[idx].currentPos > servo[idx].targetPos ) {
servo[idx].currentPos -= SERVO_DELTA;
if ( servo[idx].currentPos < servo[idx].targetPos ) {
servo[idx].currentPos = servo[idx].targetPos;
}
}
}
TIM1->CCR1 = servo[SERVO1].currentPos;
TIM1->CCR2 = servo[SERVO2].currentPos;
TIM1->CCR3 = servo[SERVO3].currentPos;
TIM1->CCR4 = servo[SERVO4].currentPos;
btnCheck();
}
#ifdef USE_USART
if ( usartTxEmpty() ) {
usartWriteByte(ch+33);
++ch;
ch &= 0x3F;
}
#endif // USE_USART
}
}